///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
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/// furnished to do so, subject to the following conditions:
///
/// The above copyright notice and this permission notice shall be included in
/// all copies or substantial portions of the Software.
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/// Restrictions:
///		By making use of the Software for military purposes, you choose to make
///		a Bunny unhappy.
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// THE SOFTWARE.
///
/// @ref gtx_dual_quaternion
/// @file glm/gtx/dual_quaternion.hpp
/// @date 2013-02-10 / 2013-02-20
/// @author Maksim Vorobiev (msomeone@gmail.com)
///
/// @see core (dependence)
/// @see gtc_half_float (dependence)
/// @see gtc_constants (dependence)
/// @see gtc_quaternion (dependence)
///
/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
/// @ingroup gtx
///
/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
///
/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////

#pragma once

// Dependency:
#include "../glm.hpp"
#include "../gtc/constants.hpp"
#include "../gtc/quaternion.hpp"

#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
#	pragma message("GLM: GLM_GTX_dual_quaternion extension included")
#endif

namespace glm {
    /// @addtogroup gtx_dual_quaternion
    /// @{

    template<typename T, precision P>
    struct tdualquat {
        typedef T value_type;
        typedef glm::tquat<T, P> part_type;

    public:
        glm::tquat<T, P> real, dual;

        //////////////////////////////////////
        // Component accesses

#		ifdef GLM_FORCE_SIZE_FUNC
        typedef size_t size_type;
        /// Return the count of components of a dual quaternion
        GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;

        GLM_FUNC_DECL part_type & operator[](size_type i);
        GLM_FUNC_DECL part_type const & operator[](size_type i) const;
#		else
        typedef length_t length_type;
        /// Return the count of components of a dual quaternion
        GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;

        GLM_FUNC_DECL part_type &operator[](length_type i);

        GLM_FUNC_DECL part_type const &operator[](length_type i) const;

#		endif//GLM_FORCE_SIZE_FUNC

        //////////////////////////////////////
        // Implicit basic constructors

        GLM_FUNC_DECL tdualquat();

        GLM_FUNC_DECL tdualquat(tdualquat<T, P> const &d);

        template<precision Q>
        GLM_FUNC_DECL tdualquat(tdualquat<T, Q> const &d);

        //////////////////////////////////////
        // Explicit basic constructors

        GLM_FUNC_DECL explicit tdualquat(ctor);

        GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const &real);

        GLM_FUNC_DECL tdualquat(tquat<T, P> const &orientation, tvec3<T, P> const &translation);

        GLM_FUNC_DECL tdualquat(tquat<T, P> const &real, tquat<T, P> const &dual);

        //////////////////////////////////////////////////////////////
        // tdualquat conversions

#		ifdef GLM_FORCE_EXPLICIT_CTOR
        template <typename U, precision Q>
        GLM_FUNC_DECL explicit tdualquat(tdualquat<U, Q> const & q);
#		else

        template<typename U, precision Q>
        GLM_FUNC_DECL tdualquat(tdualquat<U, Q> const &q);

#		endif

        GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const &holder_mat);

        GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const &aug_mat);

        // Operators
        GLM_FUNC_DECL tdualquat<T, P> &operator=(tdualquat<T, P> const &m);

        template<typename U>
        GLM_FUNC_DECL tdualquat<T, P> &operator=(tdualquat<U, P> const &m);

        template<typename U>
        GLM_FUNC_DECL tdualquat<T, P> &operator*=(U s);

        template<typename U>
        GLM_FUNC_DECL tdualquat<T, P> &operator/=(U s);
    };

    template<typename T, precision P>
    GLM_FUNC_DECL tquat<T, P> operator-(
            tquat<T, P> const &q);

    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator+(
            tdualquat<T, P> const &q,
            tdualquat<T, P> const &p);

    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator*(
            tdualquat<T, P> const &q,
            tdualquat<T, P> const &p);

    template<typename T, precision P>
    GLM_FUNC_DECL tvec3<T, P> operator*(
            tquat<T, P> const &q,
            tvec3<T, P> const &v);

    template<typename T, precision P>
    GLM_FUNC_DECL tvec3<T, P> operator*(
            tvec3<T, P> const &v,
            tquat<T, P> const &q);

    template<typename T, precision P>
    GLM_FUNC_DECL tvec4<T, P> operator*(
            tquat<T, P> const &q,
            tvec4<T, P> const &v);

    template<typename T, precision P>
    GLM_FUNC_DECL tvec4<T, P> operator*(
            tvec4<T, P> const &v,
            tquat<T, P> const &q);

    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator*(
            tdualquat<T, P> const &q,
            T const &s);

    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator*(
            T const &s,
            tdualquat<T, P> const &q);

    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> operator/(
            tdualquat<T, P> const &q,
            T const &s);

    /// Returns the normalized quaternion.
    ///
    /// @see gtx_dual_quaternion
    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> normalize(
            tdualquat<T, P> const &q);

    /// Returns the linear interpolation of two dual quaternion.
    ///
    /// @see gtc_dual_quaternion
    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> lerp(
            tdualquat<T, P> const &x,
            tdualquat<T, P> const &y,
            T const &a);

    /// Returns the q inverse.
    ///
    /// @see gtx_dual_quaternion
    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> inverse(
            tdualquat<T, P> const &q);

    /// Converts a quaternion to a 2 * 4 matrix.
    ///
    /// @see gtx_dual_quaternion
    template<typename T, precision P>
    GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(
            tdualquat<T, P> const &x);

    /// Converts a quaternion to a 3 * 4 matrix.
    ///
    /// @see gtx_dual_quaternion
    template<typename T, precision P>
    GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(
            tdualquat<T, P> const &x);

    /// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
    ///
    /// @see gtx_dual_quaternion
    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
            tmat2x4<T, P> const &x);

    /// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
    ///
    /// @see gtx_dual_quaternion
    template<typename T, precision P>
    GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
            tmat3x4<T, P> const &x);


    /// Dual-quaternion of low single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, lowp> lowp_dualquat;

    /// Dual-quaternion of medium single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, mediump> mediump_dualquat;

    /// Dual-quaternion of high single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, highp> highp_dualquat;


    /// Dual-quaternion of low single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, lowp> lowp_fdualquat;

    /// Dual-quaternion of medium single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, mediump> mediump_fdualquat;

    /// Dual-quaternion of high single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<float, highp> highp_fdualquat;


    /// Dual-quaternion of low double-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<double, lowp> lowp_ddualquat;

    /// Dual-quaternion of medium double-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<double, mediump> mediump_ddualquat;

    /// Dual-quaternion of high double-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef tdualquat<double, highp> highp_ddualquat;


#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
    /// Dual-quaternion of floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef highp_fdualquat dualquat;

    /// Dual-quaternion of single-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef highp_fdualquat fdualquat;
#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
    typedef highp_fdualquat			dualquat;
    typedef highp_fdualquat			fdualquat;
#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
    typedef mediump_fdualquat		dualquat;
    typedef mediump_fdualquat		fdualquat;
#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
    typedef lowp_fdualquat			dualquat;
    typedef lowp_fdualquat			fdualquat;
#else
#	error "GLM error: multiple default precision requested for single-precision floating-point types"
#endif


#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
    /// Dual-quaternion of default double-precision floating-point numbers.
    ///
    /// @see gtx_dual_quaternion
    typedef highp_ddualquat ddualquat;
#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
    typedef highp_ddualquat			ddualquat;
#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
    typedef mediump_ddualquat		ddualquat;
#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
    typedef lowp_ddualquat			ddualquat;
#else
#	error "GLM error: Multiple default precision requested for double-precision floating-point types"
#endif

    /// @}
} //namespace glm

#include "dual_quaternion.inl"
